ifm electronic RN7003 User Manual

Device manual
Encoder with CANopen
interface
RM7xxx
RN7xxx
UK
704434/01 08 / 2010
CANopen encoder
Contents
1 Preliminary note � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
1�1 Symbols used� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4 1�2 Warning signs used � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
2 Safety instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
3 General information � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3�1 Absolute encoders � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5 3�2 CANopen technology � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3�2�1 Certification of CANopen products� � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3�3 References � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3�3�1 Abbreviations � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
4 Installation of the encoder� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
4�1 Settings of the encoder � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6 4�2 Node address � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7 4�3 Bus termination � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7 4�4 Baud rate switch� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7 4�5 Electrical connection of the encoder � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8 4�6 BUS lines � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9 4�7 Shield � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10 4�8 EDS file � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10 4�9 Parameter setting � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10 4�10 LED display � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11
4�10�1 Module LED � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11 4�10�2 Status LED� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 12
5 Profile overview � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 12
6 Functionality of the encoder � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 13
6�1 Basic functionality of the encoder� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 13 6�2 Default identifiers � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 13 6�3 Boot message � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 14 6�4 Operating parameters � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 15 6�5 Scaling function � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 15
6�5�1 Overview � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 15 6�5�2 Scaling formulas � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 16
6�6 Preset value � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 16
6�6�1 Overview � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 16
6�6�2 Calculation of the preset value� � � � � � � � � � � � � � � � � � � � � � � � � � � � � 17 6�7 Zero setting � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 18 6�8 Speed and acceleration � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 18 6�9 PDO mapping� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 18
6�9�1 PDO configuration � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 19
6�9�2 PDO configuration example � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 20 6�10 Heartbeat � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 21 6�11 IRT mode � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 21
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CANopen encoder
6�11�1 Diagnosis of the encoder � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 22
6�11�2 Operating status � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 22 6�12 Alarms and warnings � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 22
7 Manufacturer-specific objects� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 23
7�1 Object 0x5003, speed type� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 23 7�2 Object 0x5A03, serial number 2 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 24
8 Example encoder configuration � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 24
UK
Licences and trademarks
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All trademarks and company names are subject to the copyright of the respective companies�
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and Acrobat® are registered trademarks of Adobe Systems Inc�
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CANopen encoder

Preliminary note1

Symbols used1.1

Instruction > Reaction, result […] Designation of pushbuttons, buttons or indications Cross-reference
Important note
Non-compliance can result in malfunctions or interference�
Information
Supplementary note

Warning signs used1.2

ATTENTION
Warning of damage to property�

Safety instructions2

This manual is part of the device� It contains information and illustrations about the correct handling of the device and must be read before installation or use�
Observe the operating instructions�
Non-observance of the instructions, operation which is not in accordance with use as prescribed below, wrong installation or handling can affect the safety of people and machinery�
The installation and connection must comply with the applicable national and international standards� Responsibility lies with the person installing the unit�
Only the signals indicated in the technical data or on the device label may be supplied to the connections or wires�
4
CANopen encoder

General information3

Absolute encoders3.1

For an absolute encoder each angular position is assigned a coded position value� This is generated by a coded disc with several parallel fine code segments which are detected individually� For singleturn encoders, i�e� an encoder producing absolute positions within one revolution, the absolute position information is repeated with every revolution� A multiturn encoder can also distinguish between revolutions via a gearbox containing magnets which are individually detected by Hall elements� The number of the individual revolutions is determined by the resolution of the multiturn detection and is repeated after the total resolution has been reached�

CANopen technology 3.2

The CANopen communication profile is based on the CAN Application Layer (CAL) specification from CiA (CAN in Automation)� CANopen is considered as a robust fieldbus with highly flexible configuration options� It is used in many various applications which are based on different application profiles� CANopen comprises a concept to configure and communicate real-time data using synchronous and asynchronous messages� Four message types (objects) are distinguished�
UK
Administration messages (layer management, network management and 1� identifier distribution)
Service data messages (SDO)2�
Process data messages (PDO)3�
Predefined messages (synchronisation, time stamp, emergency)4�
You can find more information in the CANopen specification�
Certication of CANopen products3.2.1
To achieve interoperability and a suitable device functionality CANopen products are approved by external notified bodies� A copy of the certificate is attached to this manual�

References3.3

http://www�can-cia�org
CAN Application Layer, DS 201…207 CiA
CAL based communication profile, DS 301 CiA
Device profiles for encoders, DS 406 CiA
CAN specification version 2�0 A Robert Bosch GmbH
CANary CAN controller Atmel
5
CANopen encoder
  

Abbreviations3.3.1

CAN Controller Area Network
CiA CAN in Automation
CAL CAN Application Layer
EDS Electronic Data Sheet
DCF Device Configuration File
SDO Service Data Object
PDO Process Data Object
TPDO Transmit PDO
COB-ID Communication Object Identifier
NMT Network Management
IRT Isochronous Real Time

Installation of the encoder4

Settings of the encoder4.1

The node address of the encoder, the baud rate and the bus termination must be configured during the set-up of the device� This is done by removing the cover of the housing on the back�
switches node address1: bus termination on/off2: baud rate switch3: bus output4: bus input5:
6
CANopen encoder
supply +U6: zero set button7: screw terminals for bus and power supply connection8:
B

Node address4.2

The node address of the device can be set via two decimal rotary switches in the device� The step increment x10 and x1 is specified next to the switches� The permitted address range is between 3 and 98� The address range 0 to 2 is reserved for the master� Address 0 is used for broadcasting, i�e� master broadcasting to multiple slaves� Note that each address used in a CANopen network must be unique and must not be used by other devices�
The device address is read and adopted when the encoder power supply is switched on (or the NMT command Reset_Communication or Reset_Node)� Both actions are required to adopt changes to the address settings�

Bus termination4.3

In a CANopen network all devices are connected in a bus structure� Up to 32 devices (masters and/or slaves) can be connected in one segment� If more devices are needed, repeaters must be used to amplify the signals between the segments� An active termination must be added at the beginning and end of each bus segment to ensure an error-free operation� These terminations are integrated into the device and can be activated via DIP switches�
UK
The active termination is only activated if the encoder is switched on� If the device
is switched off, the CAN_H and CAN_L lines are internally terminated by a 121 Ω
resistor�
Bit 1 Bit 2 Effect
on on 121 ohm resistor between CAN_H and CAN_L
on off no valid setting
off on no valid setting
off off no resistor between CAN_H and CAN_L

Baud rate switch4.4

The communication baud rate can be set using the rotary switch inside the encoder� The baud rate is set according to the following table�
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CANopen encoder
 
Settings baud rate switch
Baud rate [kbits] Baud rate switch
10 0
20 1
50 2
125 3
250 4
500 5
800 6
1000 7
400 8

Electrical connection of the encoder4.5

NOTE
The unit must be connected by a qualified electrician� Disconnect power before connecting the unit�
Voltage supply U1:
B
Function Terminal
+U
(9���36 V DC) +
B
0 V -
The cable glands of the encoder must always be equipped with a shielded power supply cable with a wire cross-section between 0�34 mm2 and 1�5 mm2� The permissible outer cable diameter is ø 8���ø 10 mm� Two screw terminals with the required power supply terminals marked (+) and (-) are located inside the cover�
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